/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2024 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "adc.h"
#include "dma.h"
#include "fatfs.h"
#include "i2c.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
#include "usb_device.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "delay.h"
#include "bmp390_task.h"
#include "icm42688.h"
#include "angle.h"
#include "control.h"
#include "W25QXX.h"
#include "flight_data_manager.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
remote_type my_remote;//ң�����ṹ��
aircraft_type my_aircraft;//�������ṹ��
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */
	
	delay_init(168); /* ��ʼ���ӳٺ��� */
	
  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_TIM1_Init();
  MX_USART1_UART_Init();
  MX_TIM2_Init();
  MX_ADC1_Init();
  MX_I2C1_Init();
  MX_SPI1_Init();
  MX_UART4_Init();
  MX_USART3_UART_Init();
  MX_USART6_UART_Init();
  MX_SPI2_Init();
  MX_TIM3_Init();
  MX_TIM4_Init();
  MX_TIM5_Init();
  MX_FATFS_Init();
  MX_USB_DEVICE_Init();
  MX_TIM9_Init();
  /* USER CODE BEGIN 2 */
	LED(1);//����LED		
  int init_i =0;
 	while(icm42688_init())	//�����ǳ�ʼ��
	{
		printf("ICM42688 Init Failed!");
		LED_TOGGLE;
		delay_ms(100);

	}
	while(BMP390_Init()) 		//��ѹ�Ƴ�ʼ��
	{
    init_i++;
		printf("BMP390 Init Failed!");
		LED_TOGGLE;
		delay_ms(100);	
    if(init_i>10)
      break;	
	}
	delay_ms(100);
	
	IMU_Calibration();//��������ƯУ׼
	
	pid_control_init();
	for(uint8_t i=0;i<9;i++)//��˸LED����������ʼ�����
	{
		LED_TOGGLE;
		delay_ms(100);
	}
	HAL_UART_Receive_DMA(&huart3,uart3_rx_buff,2*REMOTE_DATA_NUM);
	HAL_UARTEx_ReceiveToIdle_DMA(&huart4,uart4_rx_buff,UART4_RXBUFFERSIZE);//UART4
	HAL_UARTEx_ReceiveToIdle_DMA(&huart6,uart6_rx_buff,UART6_RXBUFFERSIZE);//UART6
	HAL_TIM_Base_Start_IT(&htim1);
	HAL_TIM_Base_Start_IT(&htim5);
	delay_ms(100);

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
		aircraft_fly_data_record(); 
	
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 4;
  RCC_OscInitStruct.PLL.PLLN = 168;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 7;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */
void error_handler_msg_log(char *file_msg, const char *func_msg)
{
    /* Start peintf error message, don't use rtos_log  */
    printf("Error file      : %s\r\n", file_msg);
    printf("Error function  : %s\r\n", func_msg);
}
/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
	printf("Error_Handler\n");//�������
	error_handler_msg_log(__FILE__, __func__);//��ӡ�����ļ��ͺ�����Ϣ
  while (1)
  {

  }
  /* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
